Filter (signal processing)
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A filter in signal processing is a computational or electronic system that selectively passes, attenuates, or transforms signals based on desired characteristics such as frequency, noise level, or statistical properties. In robotics and AI, filters serve as essential tools for processing noisy sensor data and estimating the true state of a system over time. Common examples include the Kalman filter and its variants (Extended, Unscented), which use probabilistic models to optimally fuse measurements from sensors like IMUs, cameras, and GPS for tasks such as robot localization, attitude estimation, and motion tracking. Particle filters offer a more flexible, sampling-based alternative capable of handling nonlinear, non-Gaussian systems, making them widely used in simultaneous localization and mapping (SLAM), people tracking, and prognostics. Complementary filters combine multiple sensor modalities to exploit their complementary frequency characteristics. Filters matter because real-world sensors are inherently noisy and incomplete; without effective filtering, robots cannot reliably perceive their environment, estimate their own state, or make safe decisions. They form a foundational layer in virtually every perception and estimation pipeline in modern robotics.
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Improved Techniques for Grid Mapping With Rao-Blackwellized Particle Filters
Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
Citations: 2412 • 2007
Nonlinear Complementary Filters on the Special Orthogonal Group
Robert Mahony, Tarek Hamel, Jean-Michel Pflimlin
Citations: 1686 • 2008
Rao-Blackwellised Particle Filtering for Dynamic Bayesian Networks
Kevin J. Murphy, Stuart Russell
Citations: 1185 • 2001
Improving Grid-based SLAM with Rao-Blackwellized Particle Filters by Adaptive Proposals and Selective Resampling
Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
Citations: 734 • 2005
Adapting the Sample Size in Particle Filters Through KLD-Sampling
Dieter Fox
Citations: 717 • 2003
Simultaneous Localization and Mapping with Sparse Extended Information Filters
Sebastian Thrun, Yufeng Liu, Daphne Koller, Andrew Y. Ng, Zoubin Ghahramani, Hugh Durrant‐Whyte
Citations: 648 • 2004
Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking
Xiaoping Yun, E.R. Bachmann
Citations: 566 • 2006
Fast and Incremental Method for Loop-Closure Detection Using Bags of Visual Words
Adrien Angeli, David Filliat, Stéphane Doncieux, Jean-Arcady Meyer
Citations: 515 • 2008
Remaining useful life prediction of lithium-ion battery with unscented particle filter technique
Qiang Miao, Lei Xie, Hengjuan Cui, Wei Liang, Michael Pecht
Citations: 482 • 2012
Decentralized Estimation and Control for Multisensor Systems
Arthur G.O. Mutambara
Citations: 454 • 2019
Model based vehicle detection and tracking for autonomous urban driving
Anna Petrovskaya, Sebastian Thrun
Citations: 437 • 2009
Systematic accuracy and precision analysis of video motion capturing systems—exemplified on the Vicon-460 system
Markus Windolf, Nils Götzen, Michael M. Morlock
Citations: 414 • 2008
A Generalized Extended Kalman Filter Implementation for the Robot Operating System
Tom Moore, Daniel W. Stouch
Citations: 406 • 2015
Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM
Shoudong Huang, Gamini Dissanayake
Citations: 400 • 2007
Improving RGB-D SLAM in dynamic environments: A motion removal approach
Yuxiang Sun, Ming Liu, Max Q.‐H. Meng
Citations: 384 • 2016
Multi-robot Simultaneous Localization and Mapping using Particle Filters
Andrew Howard
Citations: 373 • 2006
Tracking multiple moving targets with a mobile robot using particle filters and statistical data association
Dirk Schulz, Wolfram Burgard, D. Fox, Armin B. Cremers
Citations: 373 • 2002
Particle filter-based prognostics: Review, discussion and perspectives
Marine Jouin, Rafael Gouriveau, Daniel Hissel, Marie‐Cécile Péra, Noureddine Zerhouni
Citations: 335 • 2015
Development and experimental validation of an adaptive extended Kalman filter for the localization of mobile robots
L. Jetto, Sauro Longhi, Gilles Venturini
Citations: 319 • 1999
Conditional particle filters for simultaneous mobile robot localization and people-tracking
Michael Montemerlo, Sebastian Thrun, W. Whittaker
Citations: 314 • 2003